弾性脊椎と尾びれで泳ぐマグロ型ロボット魚の推進システム
Biomorphic propulsion system diving thunniform robotic fish
弾性脊椎とサーボ駆動の尾びれを組み合わせ、振幅と周波数を制御してマグロ型の遊泳を実現するロボット魚の推進機構を開発し、速度特性を実験的に解析した。
著者: I. V. Mitin, R. A. Korotaev, A. A. Ermolaev, V. B. Kazantsev
分類: cs.RO
原文アブストラクト
A biomorphic propulsion systemfor underwater robotic fish is presented. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to servomotor by two symmetric movable thrusts simulating muscle contraction. The propulsion system provides oscillatory tail movement with controllable amplitude and frequency. Tail oscillations results in translational movement of the robotic fish implementing the thunniform principle of locomotion. The shape of the body of the robotic fish and the tail fin were designed using computational model simulating virtual body in an aquatic medium. A prototype of robotic fish device was constructed and tested in experimental conditions. Dependencies of fish velocity on the amplitude and frequency of tail oscillations were analyzed.